CN107102543B - A kind of forming method and device of energy router anti-interference controller - Google Patents
A kind of forming method and device of energy router anti-interference controller Download PDFInfo
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Abstract
The present invention provides the forming methods and device of a kind of energy router anti-interference controller, the described method includes: simulating by changed power of the Nonlinear Stochastic Differential Equation to energy router, the Nonlinear Stochastic Differential Equation of energy router power control system under multiple states is obtained；System parameter is simulated by Markov jump；Preset non-fragile controller is substituted into the nonlinear state equation, the corresponding multiple linear matrix inequality of multiple states are obtained according to H infinity control theory；It solves the multiple linear matrix inequality and obtains anti-interference controller, so that DC bus-bar voltage is stablized in the micro-grid system.The uncatalyzed coking anti-interference controller that the present invention designs, DC bus-bar voltage in the micro-grid system can be made to stablize, and meeting certain anti-interference performance, i.e., the voltage that energy router itself is output to (microgrid where it) DC bus can withstand the interference from micro-grid system other parts.
Description
Technical field
The present invention relates to technical field of power systems more particularly to a kind of formation sides of energy router anti-interference controller
Method and device.
Background technique
The problems such as global traditional fossil energy crisis and environmental pollution, the concept of energy internet is suggested, and is received
The extensive concern from whole world academia, industry is arrived.Wherein, the U.S. in 2008 is proposed advanced power electronic technique
Introduce conventional electric power system simultaneously with information technology.It is considered as realizing the prototype of energy internet in power distribution network level.
Under the conception of future source of energy internet, fossil energy will be replaced gradually by a variety of distribution type renewable energies, including wind-force hair
Motor (abbreviation blower), photovoltaic generator (abbreviation photovoltaic), miniature gas turbine (abbreviation microcomputer), small distributed waterpower hair
Motor, etc..Adaptable energy storage device includes battery energy storage (abbreviation battery) and flywheel energy storage (abbreviation flywheel) with this.
Other than legacy powered device, plug-in electromobile will be widely used for load.In energy internet, energy and information
Equity fusion.In future, everyone is not only the consumer of the energy, at the same also by be the energy the producer.In other words, everyone
Can free transaction (dealing) electric energy, form the open energy interaction as internet.U.S.'s researcher is used for reference
The thinking and theory of internet, the router referring to used in computer network, " energy router " (or be " energy routing
Device ") concept formally proposed, and be made that model machine.Functionally, for the energy between local area network and inside local area network
Stream, energy router monitor it in real time, collect information, feed back energy stream mode.According to feedback information, energy router
In controller energy is suitably stored and is routed.Since energy router itself is in development phase, the whole world there is no system
One standard and scale of mass production.Based on the targets such as stable electric power, high quality, reliable flowing are guaranteed, for grinding for energy router
Hair becomes one of energy study Internet hot spot instantly.Instantly the controller of energy router is mainly from the angle of power electronics
Hand, with frequency domain (frequency domain) analysis for theoretical basis, to electric energy changed power in energy router with differential side
The form of journey removes modeling analysis, tentatively to realize blower, photovoltaic, energy storage device in single energy micro-capacitance sensor (abbreviation microgrid), and
The collaboration of a variety of loads dissolves.It is worth noting that, blower, photovoltaic distributed renewable energy power generation have it is intermittent, with
The defects of machine, uncontrollability.In addition the electrical equipment power moment variation of load end connection, can not accurate look-ahead.Especially
It is the access of a large amount of plug-in electromobiles (abbreviation electric car), also can cause greater impact to DC bus-bar voltage in microgrid.
The above is referred to as the interference to micro-grid system, they are modeled as the disturbance input of system in tradition research, and analysis is adopted
The differential equation received is linear ordinary differential, such as:
Z (t)=Gx (t) (2)
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) be
System disturbance input；Scalar u (t) is system mode feedback controller；T is the time； A,B1、B2Invariant parameter when for system, that is, join
Number does not change over time and changes；Scalar z (t) is the controlled output of system, i.e. voltage.The design of traditional suppressor is based in this way
System, it is assumed that external interference reaches in maximum situation, with H in frequency domain∞(H infinity) control theory, it is soft by computer
Part Matlab solves a linear matrix inequality (Linear Matrix Inequality, referred to as LMI) and obtains system shape
State feedback controller.In fact, carrying out a series of researchs in frequency domain and designing to have to have certain defects and limitations according to it.
Main cause is as follows:
1, Frequency domain object compares limitation.From control scientific theory, frequency-domain analysis may only be suitable for linear system
System, and be stational system.It may not be usable for nonlinear system.It is more not applicable for stochastic system.
2, too simple and idealization is modeled with stational system.From this physical field of the energy router changed power of complexity
Scape is modeled as this mathematic(al) representation of simple linear ordinary differential, there is very big blurring, approximation processing here.?
In energy internet area, wind, light, load etc. all can bring random perturbation to DC bus in microgrid.With mathematic(al) representation
When going to model its system, the not instead of stational system of most closing to reality, stochastic system.In art of mathematics, stational system and
Stochastic system has significant difference substantially.Therefore, being modeled with stational system will cause distortion, and confidence level is lower.
3, too simple and idealization is modeled with linear system.Confirmable theory, in real life production, Ren Hegong
Journey system is all nonlinear, and fairly linear system is not present.Only for simplified needs, engineer is the non-of script
Linear system is analyzed similar to linear system.The conclusion that operation obtains in this way can meet engineering practice substantially,
But it is inaccurate.It is simple to linearize the mistake of bringing on a disaster property if encountering the scene for having requirements for high precision.In energy source interconnection
In net field, a variety of loads have higher requirements to power quality and stability, such as semiconductor production, high-precision medical instrument, etc.
Deng.
4, Legacy Status feedback controller is too simple and idealizes.Energy router controls equipment as accurate, for
Power quality high standard, the premise of high reliability, it has higher requirement to the sensitivity of voltage change, accuracy.Tradition
Designing the possible inaccurate or system such as parameter of controller itself itself, there are inevitable errors in measurement.They will
Lead to system fault, collapse, or even burns.
5, the when invariant parameter setting of conventional model is unreasonable.Under energy internet environment, the access of extensive electric car,
It will lead to bearing power and up and down unstable jump occur.This needs energy router to be cooperated, and adjusts bus in time
Voltage.Micro-grid system parameter should be time-varying in this case, and should be jump variation.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of forming method of energy router anti-interference controller and
Device, by Nonlinear Stochastic Differential Equation analog energy router power control system, and system parameter uses Markov
Jump designs a uncatalyzed coking anti-interference controller by H infinity control theory in time domain for the system to model, and makes institute
It states DC bus-bar voltage in micro-grid system to stablize, and meets certain anti-interference performance.
In a first aspect, the present invention provides a kind of forming method of energy router anti-interference controller, the method packet
It includes:
According to power generator each in micro-grid system, energy storage device, and the power of load, using Nonlinear Stochastic Differential Equation
The changed power of energy router is simulated, obtain energy router power control system under multiple states it is non-linear with
The machine differential equation；
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Ma Er
Section husband, which jumps, summarizes simultaneously simulation system parameter, obtains the nonlinear state equation of the energy router power control system；
Preset non-fragile controller is substituted into the nonlinear state equation, is obtained according to H infinity control theory multiple
The corresponding multiple linear matrix inequality of state；
It solves the multiple linear matrix inequality and obtains anti-interference controller, so that DC bus in the micro-grid system
Voltage stabilization.
Optionally, described according to the energy each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation pair
The changed power of energy router is simulated, and the non-linear stochastic of energy router power control system under multiple states is obtained
The differential equation, comprising:
According to power generator each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation to some transient state
Under the changed power of energy router simulated；
Multiple states are marked based on time scale, and are repeated in each state described using Nonlinear Stochastic Differential Equation
The step of changed power of energy router under the state is simulated, to obtain the energy routing under the multiple state
The Nonlinear Stochastic Differential Equation of device power control system.
Optionally, described non-linear according to power generator each in micro-grid system, energy storage device, and the power of load, use
Stochastic differential equation simulates the changed power of the energy router under some transient state, comprising:
The changed power under some transient state is simulated using linear ordinary differential shown in formula one:
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) be
System disturbance input；Scalar u (t) is state feedback controller；T is the time；A, B1、B2Invariant parameter when for system；
Using Brownian movement come simulation system randomness, the linear ordinary differential is rewritten as shown in formula two
The linear random differential equation:
Dx (t)=(Ax (t)+B ν (t)+Cu (t)) dt+ (Dx (t)+E ν (t)+Fu (t)) dW (t) formula two
Wherein, invariant parameter when matrix A, B, C, D, E, F with adaptable dimension are system；W (t) is Blang's fortune
It is dynamic；
It is compared by model measurement and with actual power situation of change, the linear random differential equation is rewritten as
The Nonlinear Stochastic Differential Equation as shown in formula three:
Dx (t)=f (x (t), ν (t), u (t)) dt+g (x (t), ν (t), u (t)) dW (t) formula three
Verify the existence and uniqeness of the Nonlinear Stochastic Differential Equation solution.
Optionally, the non-linear stochastic differential side according to energy router power control system under the multiple state
Journey summarizes simultaneously simulation system parameter by Markov jump, obtains the non-linear of the energy router power control system
State equation, comprising:
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Ma Er
Section husband, which jumps, to summarize and simulation system parameter, obtain the energy router power control system as shown in formula four it is new
Nonlinear state equation:
Dx (t)=f (x (t), ν (t), u (t), t, rt)dt+g(x(t),ν(t),u(t),t,rt) dW (t) formula four
Wherein, rtIndicate Markov skip link, value is in the set of { 1 ..., δ }, and transition probabilities such as five institute of formula
Show:
Wherein πij>=0, i ≠ j, and πii=-∑j≠iπij, P is probability.
Optionally, described that preset non-fragile controller is substituted into the nonlinear state equation, it is controlled and is managed according to H infinity
By obtaining the corresponding multiple linear matrix inequality of multiple states, comprising:
By preset non-fragile controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) substitute into it is described non-linear
State equation；
According to the nonlinear state equation, ask several again after quadraturing using Ito lemma to preset Liapunov item
Desired value is learned, and combines H infinity control theory, multiple states pair are obtained by functional analysis, inequality principle and matrixing
The multiple linear matrix inequality answered；
Wherein, scalar u (t) is state feedback controller；Vector x (t) is system mode, i.e., inside expression energy router
Watt level variation；K(t,rt) be the matrix with certain dimension and meet certain Markov jump；Parameter uncertainty
ΔK(t,rt) be and K (t, rt) with dimension matrix and meet certain Markov jump.
Second aspect, the present invention provides a kind of formation device of energy router anti-interference controller, described device packets
It includes:
Model foundation unit, for the power according to power generator each in micro-grid system and load, using non-linear stochastic
The differential equation simulates the changed power of energy router, obtains energy router power control system under multiple states
Nonlinear Stochastic Differential Equation；
Parameter simulation unit, for the non-linear stochastic according to energy router power control system under the multiple state
The differential equation summarizes simultaneously simulation system parameter by Markov jump, obtains the energy router power control system
Nonlinear state equation；
Antidisturbance control computing unit, for preset non-fragile controller expression formula to be substituted into the nonlinear state side
Journey obtains the corresponding multiple linear matrix inequality of multiple states according to H infinity control theory；
Controller acquiring unit obtains anti-interference controller for solving the multiple linear matrix inequality, so that institute
DC bus-bar voltage in micro-grid system is stated to stablize.
Optionally, the model foundation unit, is specifically used for:
According to power generator each in micro-grid system, energy storage device, and the power of load, using Nonlinear Stochastic Differential Equation
The changed power of energy router under some transient state is simulated；
Multiple states are marked based on time scale, and are repeated in each state described using Nonlinear Stochastic Differential Equation
The step of changed power of energy router under the state is simulated, to obtain the energy routing under the multiple state
The Nonlinear Stochastic Differential Equation of device power control system.
Optionally, the model foundation unit, is further used for:
The changed power under some transient state is simulated using linear ordinary differential shown in formula one:
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) be
System disturbance input；Scalar u (t) is state feedback controller；T is the time；A, B1、B2Invariant parameter when for system；
Randomness is simulated using Brownian movement, the linear ordinary differential is rewritten as linear as shown in formula two
Stochastic differential equation:
Dx (t)=(Ax (t)+B ν (t)+Cu (t)) dt+ (Dx (t)+E ν (t)+Fu (t)) dW (t) formula two
Wherein, invariant parameter when matrix A, B, C, D, E, F with adaptable dimension are system；W (t) is Blang's fortune
It is dynamic；
It is compared by model measurement and with actual power situation of change, the linear random differential equation is rewritten as
The Nonlinear Stochastic Differential Equation as shown in formula three:
Dx (t)=f (x (t), ν (t), u (t)) dt+g (x (t), ν (t), u (t)) dW (t) formula three
Verify the existence and uniqeness of the Nonlinear Stochastic Differential Equation solution.
Optionally, the parameter simulation unit, is specifically used for:
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Ma Er
Section husband, which jumps, to summarize and simulation system parameter, obtain the energy router power control system as shown in formula four it is new
Nonlinear state equation:
Dx (t)=f (x (t), ν (t), u (t), t, rt)dt+g(x(t),ν(t),u(t),t,rt) dW (t) formula four
Wherein, rtIndicate Markov skip link, value is in the set of { 1 ..., δ }, and transition probabilities such as five institute of formula
Show:
Wherein πij>=0, i ≠ j, and πii=-∑j≠iπij, P is probability.
Optionally, the interference controls computing unit, is specifically used for:
By preset non-fragile controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) substitute into it is described non-linear
State equation；
According to the nonlinear state equation, ask several again after quadraturing using Ito lemma to preset Liapunov item
Desired value is learned, and combines H infinity control theory, multiple states pair are obtained by functional analysis, inequality principle and matrixing
The multiple linear matrix inequality answered；
Wherein, scalar u (t) is state feedback controller；Vector x (t) is system mode, i.e., inside expression energy router
Watt level variation；K(t,rt) be the matrix with certain dimension and meet certain Markov jump；Parameter uncertainty
ΔK(t,rt) be and K (t, rt) with dimension matrix and meet certain Markov jump.
As shown from the above technical solution, the present invention provides a kind of forming method of energy router anti-interference controller and
Device is simulated by changed power of the Nonlinear Stochastic Differential Equation to energy router, obtains energy under multiple states
The Nonlinear Stochastic Differential Equation of router power control system；And system parameter is simulated by Markov jump；
Preset non-fragile controller expression formula is substituted into the nonlinear state equation, multiple shapes are obtained according to H infinity control theory
The corresponding multiple linear matrix inequality of state；And solve the multiple linear matrix inequality and obtain anti-interference controller, so that
DC bus-bar voltage is stablized in the micro-grid system.So the present invention designs obtained uncatalyzed coking anti-interference controller, makes described
DC bus-bar voltage is stablized in micro-grid system, and meets certain anti-interference performance, i.e. energy router itself is output to (its institute
In microgrid) voltage of DC bus can withstand interference from microgrid other parts, such as blower, photovoltaic, load etc.
Interference, and its anti-interference degree reaches following standard: it is expected that disturbance input reaches in maximum situation, energy router itself
System can normal even running.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is that a kind of process of the forming method for energy router anti-interference controller that one embodiment of the invention provides is shown
It is intended to；
Fig. 2 is that a kind of structure of the formation device for energy router anti-interference controller that one embodiment of the invention provides is shown
It is intended to；
Fig. 3 is the structural block diagram for a kind of electronic equipment that one embodiment of the invention provides.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is the process signal of the forming method of one of one embodiment of the invention energy router anti-interference controller
Figure, as shown in Figure 1, described method includes following steps:
S1: according to power generator each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation to energy
The changed power of router is simulated, and the non-linear stochastic differential of energy router power control system under multiple states is obtained
Equation.
Specifically, the step S1 specifically includes following sub-step:
S11: according to power generator each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation to some
The changed power of energy router under transient state is simulated.
S12: multiple states, and repeating said steps S11 in each state are marked based on time scale, to obtain
State the Nonlinear Stochastic Differential Equation of the energy router power control system under multiple states.
Specifically, in step S11, some transient state is fixed, the running as controlled jumping characteristic load in micro-grid system is allowed to
Reach the situation to systematic influence minimum, i.e. load (such as electric car) quantity of farthest limitation access micro-grid system.
In step S12, all loads (such as electric car) in open system, then electric car freely can access or exit microgrid, at this time then
Multiple states are marked with time scale.As being denoted as state 1 when the 0.1st second to 0.2 second, it was by 0.3 second within the 0.2nd second
State 2, the 0.3rd second to 0.4 second is state 3 ... and so on.In each state, S11 is respectively repeated steps, and obtains shape
Nonlinear Stochastic Differential Equation under state 1, under state 2, under state 3 ....
S2: according to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through
Markov jump is summarized and simulation system parameter, obtains the nonlinear state side of the energy router power control system
Journey.
Specifically, after experimental state accomplishes certain amount grade, all test parameters are reviewed.It is jumped with Markov
Come summarize and simulation system parameter variation, then can obtain the new nonlinear state of the energy router power control system
Equation.
In this way, the present embodiment considers the voltage wave caused by microgrid DC bus after a large amount of electric car access microgrids
It is dynamic.In terms of system parameter modeling, the present embodiment uses Markov jump and carrys out simulation system parameter.In this way, system parameter
Itself it is also uncertain, is a kind of special random process, with certain jumping characteristic.It is jumped with parameter with Markov
System carrys out analog physical scene, has more authenticity, closer to reality, is conducive to design and is best suitable for the most accurate of actual scene
Controller.
S3: preset non-fragile controller is substituted into the nonlinear state equation, is obtained according to H infinity control theory more
The corresponding multiple linear matrix inequality of a state.
Specifically, after preset non-fragile controller expression formula being substituted into the nonlinear state equation, to preset
Liapunov item applies Ito lemma and seeks mathematical expectation, and combines time domain H infinity control theory, by a series of
Mathematical measure obtain the corresponding multiple linear matrix inequality of multiple states (Linear Matrix Inequality, referred to as
LMI).Such LMI can make the Shandong nation stability inside system satisfaction.
S4: solving the multiple linear matrix inequality and obtain anti-interference controller, so that direct current in the micro-grid system
Busbar voltage is stablized.
Specifically, by the LMI solver kit in mathematical software MatLab, such (such as δ state can be solved
Corresponding δ) linear matrix inequality.It correspondingly, also can be in the hope of (δ) controller suitable for each jumping parameters.
By real-Time Signal Transfer, control target can be realized, DC bus-bar voltage is stablized in the microgrid.Even if the parameter moment becomes
Change, this step obtain anti-interference controller be also therewith the moment change automatically.
In the present embodiment, is simulated, obtained by changed power of the Nonlinear Stochastic Differential Equation to energy router
The Nonlinear Stochastic Differential Equation of energy router power control system under multiple states；And it is jumped by Markov to system
Parameter is simulated；Preset non-fragile controller is substituted into the nonlinear state equation, is obtained according to H infinity control theory
The corresponding multiple linear matrix inequality of multiple states；And it solves the multiple linear matrix inequality and obtains antidisturbance control
Device, so that DC bus-bar voltage is stablized in the micro-grid system.The uncatalyzed coking antidisturbance control that such the present embodiment designs
Device stablizes DC bus-bar voltage in the micro-grid system, and meets certain anti-interference performance, i.e. energy router itself is defeated
The voltage for arriving (microgrid where it) DC bus out can withstand the interference from microgrid other parts, such as blower, light
The interference of volt, load etc., and its anti-interference degree reaches following standard: it is expected that disturbance input reaches in maximum situation, energy
Router own system can normal even running.
In an alternate embodiment of the present invention where, above-mentioned steps S11 specifically comprises the following steps:
S111: the changed power under some transient state is simulated using linear ordinary differential shown in formula (3):
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) be
System disturbance input；Scalar u (t) is state feedback controller；T is the time；A, B1、B2Invariant parameter when for system.
Specifically, some transient state is fixed, the running of jumping characteristic load in microgrid is controlled, is made up to systematic influence minimum
The case where.That is the electric car quantity of farthest limitation access microgrid.First with linear ordinary differential (3) come analog energy road
By device changed power itself.This model is similar with conventional model, and not ask model accuracy to reach highest at this time.
S112: simulating randomness using Brownian movement, and the linear ordinary differential is rewritten as shown in formula (4)
The linear random differential equation:
Dx (t)=(Ax (t)+B ν (t)+Cu (t)) dt+ (Dx (t)+E ν (t)+Fu (t)) dW (t) (4)
Wherein, invariant parameter when matrix A, B, C, D, E, F with adaptable dimension are system；W (t) is Blang's fortune
It is dynamic.
Specifically, the resulting mathematical model of step S111 is found into inaccurate section compared with practical, it will be linearly normal
The differential equation is rewritten into the linear random differential equation.Such as with a typical random process --- Brownian movement (Brownian
Motion) its randomness is simulated.
S113: comparing by model measurement and with actual power situation of change, by the linear random differential equation
It is rewritten as the Nonlinear Stochastic Differential Equation as shown in formula (5):
Dx (t)=f (x (t), ν (t), u (t)) dt+g (x (t), ν (t), u (t)) dW (t) (5)
Specifically, nonlinear characteristic existing for objective is gradually restored.By a large amount of model measurements with compare, will be above-mentioned
The linear random differential equation (4) is rewritten as the more comprehensive complicated Nonlinear Stochastic Differential Equations (5) of some column, and by itself and reality
Border changed power situation is largely compared, and when modeling is repeatedly modified, until model reaches relatively accurate degree.
S114: the existence and uniqeness of the Nonlinear Stochastic Differential Equation solution is verified.
Specifically, mathematical verification is carried out to above-mentioned model (5), that is, verifies the existence of the Nonlinear Stochastic Differential Equation solution
With uniqueness.Reference conditions are as follows: Li Puxici (Lipschitz) condition and linear growth condition.If system obtained by step S113
It unites while meeting two above condition, then enter in next step.If conditions are not met, then to the non-linear stochastic differential side of step S113
Cheng Jinhang rewrites, until being proved to be successful.
Further, above-mentioned steps S12 is specifically included:
All electric cars in open system enable freely to access or exit microgrid.It is marked at this time with time scale more
A state.It is within the 0.2nd second to 0.3 second state 2 to be denoted as state 1 when such as the 0.1st second to 0.2 second, the 0.3rd second to 0.4
Second is state 3 ... and so on.In each state, repeat the above steps S111 to S114 respectively, and obtains under state 1
, it is under state 2, under state 3 ... (as total δ state) Nonlinear Stochastic Differential Equation.
Further, in an alternate embodiment of the present invention where, above-mentioned steps S2 is specifically included:
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Ma Er
Section husband, which jumps, to summarize and simulation system parameter, obtain the energy router power control system as shown in formula (6) it is new
Nonlinear state equation:
Dx (t)=f (x (t), ν (t), u (t), t, rt)dt+g(x(t),ν(t),u(t),t,rt)dW(t) (6)
Wherein, rtIndicate Markov skip link, value is in the set of { 1 ..., δ }, and transition probabilities such as formula (7) institute
Show:
Wherein πij>=0, i ≠ j, and πii=-Σj≠iπij, P is probability.This form is the classical table of Markov jump
Show form.
Further, the step S3, specifically includes following sub-step:
S31: by preset non-fragile controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) substitute into it is described non-
Linear state equations.
Specifically, it is assumed that anti-interference controller is related to system linear, and linear dimensions is allowed to have certain do not know
Property, i.e. u (t)=(K (t, rt)+ΔK(t,rt))x(t).Wherein, K (t, rt) be the matrix with certain dimension and meet certain
Markov jump；ΔK(t,rt) be and K (t, rt) with dimension matrix and meet certain Markov jump, be demonstrated by
The parameter uncertainty of time-varying.In control field, this controller is known as uncatalyzed coking (non-fragile) controller.It is expected that
Controller and system mode are linearly related, can achieve easy control and realize.
By controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) substitution system state equation dx (t)=f (x
(t),ν(t),u(t),t,rt)dt+g(x(t),ν(t),u(t),t,rt) dW (t), it obtains (expressing math equation, formula in order to concise
(8) the time t in is omitted processing):
Dx=f (x, ν, t, rt)dt+g(x,ν,t,rt)dW(t) (8)
S32: according to the nonlinear state equation, after being quadratured using Ito lemma to preset Liapunov item again
Mathematical expectation is sought, and combines H infinity control theory, multiple shapes are obtained by functional analysis, inequality principle and matrixing
The corresponding multiple linear matrix inequality of state.
Specifically, the step S32, specifically includes:
It selects Liapunov item (Lyapunov candidate) and defines:
Wherein, (matrix) that x (t) ' is x (t) turns order, and x (s) ' is that (matrix) of x (s) turns order, and Q and R are with one
Determine the symmetrical matrix of dimension.Apply Ito lemma (Ito ' s formula) and mathematic expectaion for V (x (t), t)
(expectation), it obtains:
E { d [V (x (t), t)] }=LV (x (t), t) dt (10)
Wherein: LV (x (t), t)=2x ' QR (x, t, τ (t)).
In this way, the mathematical expectation due to Brownian movement is 0 characteristic, Brownian movement can be eliminated in seeking desired value
Bring randomness.
Further, H infinity control theory is looked back, that is, gives a system constants γ > 0, so that:
| | z (t) | | < γ | | v (t) | | (11)
Wherein define norm:
Wherein E is mathematic expectaion.In energy router model, constant γ can be selected according to performance requirements.
Accordingly, by a series of mathematical measures, including functional analysis, inequality principle, matrixing is applied in conjunction with to Liapunov item
Add Ito lemma and seek mathematical expectation, be applied in system, obtains that a series of (quantity is δ, the quantity phase with multiple states
Deng) inequality, it shows above-mentioned H infinity and is met.Such δ inequality can be converted into δ linear matrix inequality
LMI.Note, such LMI can make the robust stability inside system satisfaction.
Further, above-mentioned steps S4 is specifically included: by the LMI solver kit in mathematical software MatLab,
Such (δ) linear matrix inequality can be solved.It correspondingly, also can be in the hope of K (t, rt) be suitable for get to desired
(δ) controller of each jumping parameters.It is transmitted by signal, control target can be realized, DC bus-bar voltage in the microgrid
Stablized.Even if the parameter moment change, the obtained anti-interference controller of this step be also therewith the moment change automatically.
It can be seen that the technical solution used based on the above embodiment, has the advantage that
1, the present invention breaks through conventional inertia thinking constraint, abandons setting by traditional frequency domain analysis progress control algolithm
Meter, present invention uses temporal analysis.Its advantage shows that the scope of application is wider, can be used for nonlinear system and random system
System.In fact, frequency domain analysis may be only used for linear system and stational system, limitation is too big.
2, present invention employs stochastic systems to simulate actual physics scene, have fully considered that system band is given in wind, light, load
The randomness come.Indicate that energy router changed power closer to reality, more really, more there is persuasion with stochastic differential equation
Power.Control analysis is carried out for such stochastic system, conclusion can be more accurate.
3, the present invention simulates actual physics scene using nonlinear system, has fully considered that system band is given in wind, light, load
That comes is non-linear.Relative to the linear system of script, nonlinear system height reduces script physical state, with more true
Property.Carrying out control analysis conclusion for such nonlinear stochastic system can be more accurate.
4, the present invention has fully considered the ginseng in controller when designing a kind of controller with system mode linear correlation
Number is uncertain.Such controller can contain a degree of system parameter uncertainty and quantitative error, have certain
Fault-tolerance, the power quality by energy router can be improved.
5, the present invention considers the voltage fluctuation caused by microgrid DC bus after a large amount of electric car access microgrids.It is being
It unites in terms of parameter model, present invention employs Markov jumps to carry out simulation system parameter.In this way, system parameter itself is also not
Determining, it is a kind of special random process, there is certain jumping characteristic.The system jumped with parameter with Markov is simulated
Physics scene has more authenticity, closer to reality, be conducive to design be best suitable for actual scene be most accurately controlled device.
6, the present invention has fully considered that external disturbance inputs the interference caused by system, and considers that interference reaches maximized
Degree, system still being capable of stable operations.Present invention employs H infinity control theories under modern stochastic system, it is successfully transported
It uses on the voltage antidisturbance control of energy router, achieves noticeable achievement.
Fig. 2 is the structural representation of the formation device of one of one embodiment of the invention energy router anti-interference controller
Figure, as shown in Fig. 2, described device includes: model foundation unit 201, parameter simulation unit 202, antidisturbance control computing unit
203 and controller acquiring unit 204.Wherein:
Model foundation unit 201 is used to be adopted according to power generator each in micro-grid system, energy storage device, and the power of load
It is simulated with changed power of the Nonlinear Stochastic Differential Equation to energy router, obtains energy router function under multiple states
The Nonlinear Stochastic Differential Equation of rate control system；Parameter simulation unit 202 is used for according to energy routing under the multiple state
The Nonlinear Stochastic Differential Equation of device power control system summarizes simultaneously simulation system parameter by Markov jump, obtains institute
State the nonlinear state equation of energy router power control system；Antidisturbance control computing unit 203 is used for will be preset non-
Fragile controller substitutes into the nonlinear state equation, and it is corresponding multiple linear to obtain multiple states according to H infinity control theory
MATRIX INEQUALITIES；Controller acquiring unit 204 obtains anti-interference controller for solving the multiple linear matrix inequality, with
Stablize DC bus-bar voltage in the micro-grid system.
In an alternate embodiment of the present invention where, the model foundation unit 201, is specifically used for:
According to power generator each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation to some transient state
Under the changed power of energy router simulated；
Multiple states are marked based on time scale, and are repeated in each state described using Nonlinear Stochastic Differential Equation
The step of changed power of energy router under the state is simulated, to obtain the energy routing under the multiple state
The Nonlinear Stochastic Differential Equation of device power control system.
In an alternate embodiment of the present invention where, the model foundation unit 201, is further used for:
The changed power under some transient state is simulated using linear ordinary differential shown in formula one:
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) be
System disturbance input；Scalar u (t) is state feedback controller；T is the time；A, B1、B2Invariant parameter when for system；
Randomness is simulated using Brownian movement, the linear ordinary differential is rewritten as linear as shown in formula two
Stochastic differential equation:
Dx (t)=(Ax (t)+B ν (t)+Cu (t)) dt+ (Dx (t)+E ν (t)+Fu (t)) dW (t) formula two
Wherein, invariant parameter when matrix A, B, C, D, E, F with adaptable dimension are system；W (t) is Blang's fortune
It is dynamic；
It is compared by model measurement and with actual power situation of change, the linear random differential equation is rewritten as
The Nonlinear Stochastic Differential Equation as shown in formula three:
Dx (t)=f (x (t), ν (t), u (t)) dt+g (x (t), ν (t), u (t)) dW (t) formula three
Verify the existence and uniqeness of the Nonlinear Stochastic Differential Equation solution.
In an alternate embodiment of the present invention where, the parameter simulation unit 202, is specifically used for:
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Ma Er
Section husband, which jumps, to summarize and simulation system parameter, obtain the energy router power control system as shown in formula four it is new
Nonlinear state equation:
Dx (t)=f (x (t), ν (t), u (t), t, rt)dt+g(x(t),ν(t),u(t),t,rt) dW (t) formula four
Wherein, rtIndicate Markov skip link, value is in the set of { 1 ..., δ }, and transition probabilities such as five institute of formula
Show:
Wherein πij>=0, i ≠ j, and πii=-∑j≠iπij, P is probability.
In an alternate embodiment of the present invention where, the interference controls computing unit 203, is specifically used for:
By preset non-fragile controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) substitute into it is described non-linear
State equation；
According to the nonlinear state equation, ask several again after quadraturing using Ito lemma to preset Liapunov item
Desired value is learned, and combines H infinity control theory, multiple states pair are obtained by functional analysis, inequality principle and matrixing
The multiple linear matrix inequality answered；
Wherein, scalar u (t) is state feedback controller；Vector x (t) is system mode, i.e., inside expression energy router
Watt level variation；K(t,rt) be the matrix with certain dimension and meet certain Markov jump；ΔK(t,rt) be with
K(t,rt) with dimension matrix and meet certain Markov jump.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
Fig. 3 is the structural block diagram of one of one embodiment of the invention electronic equipment.
Referring to Fig. 3, the electronic equipment, comprising: processor (processor) 301, memory (memory) 302 and total
Line 303；Wherein,
The processor 301, memory 302 complete mutual communication by the bus 303；
The processor 301 is used to call the program instruction in the memory 302, to execute above-mentioned each method embodiment
Provided method, for example, according to power generator each in micro-grid system, energy storage device, and the power of load, use are non-thread
Property stochastic differential equation simulates the changed power of energy router, obtains energy router power control under multiple states
The Nonlinear Stochastic Differential Equation of system；According to the non-linear stochastic of energy router power control system under the multiple state
The differential equation summarizes simultaneously simulation system parameter by Markov jump, obtains the energy router power control system
Nonlinear state equation；Preset non-fragile controller expression formula is substituted into the nonlinear state equation, is controlled according to H infinity
Theory obtains the corresponding multiple linear matrix inequality of multiple states；Solve the multiple linear matrix inequality obtain it is anti-interference
Controller, so that DC bus-bar voltage is stablized in the micro-grid system.
One embodiment of the invention discloses a kind of computer program product, and the computer program product is non-temporary including being stored in
Computer program on state computer readable storage medium, the computer program include program instruction, when described program instructs
When being computer-executed, computer is able to carry out method provided by above-mentioned each method embodiment, for example, according to microgrid system
Each power generator in system, energy storage device, and the power of load, using Nonlinear Stochastic Differential Equation to the power of energy router
Variation is simulated, and the Nonlinear Stochastic Differential Equation of energy router power control system under multiple states is obtained；According to institute
The Nonlinear Stochastic Differential Equation for stating energy router power control system under multiple states is summarized simultaneously by Markov jump
Simulation system parameter obtains the nonlinear state equation of the energy router power control system；By preset uncatalyzed coking control
Device processed substitutes into the nonlinear state equation, obtains the corresponding multiple linear matrixes of multiple states not according to H infinity control theory
Equation；It solves the multiple linear matrix inequality and obtains anti-interference controller, so that DC bus electricity in the micro-grid system
Pressure is stablized.
One embodiment of the invention discloses a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit
Storage media stores computer instruction, and the computer instruction makes the computer execute side provided by above-mentioned each method embodiment
Method, for example, according to power generator each in micro-grid system, energy storage device, and the power of load, using non-linear stochastic differential
Equation simulates the changed power of energy router, obtains the non-thread of energy router power control system under multiple states
Property stochastic differential equation；According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state,
Simultaneously simulation system parameter is summarized by Markov jump, obtains the nonlinear state of the energy router power control system
Equation；Preset non-fragile controller is substituted into the nonlinear state equation, multiple states are obtained according to H infinity control theory
Corresponding multiple linear matrix inequality；It solves the multiple linear matrix inequality and obtains anti-interference controller, so that described
DC bus-bar voltage is stablized in micro-grid system.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
The various media that can store program code such as disk.
The embodiments such as the test equipment of display device described above are only schematical, wherein described as separation
The unit of part description may or may not be physically separated, component shown as a unit can be or
It can not be physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to reality
Border needs to select some or all of the modules therein to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art
Without paying creative labor, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of forming method of energy router anti-interference controller, which is characterized in that the described method includes:
According to power generator each in micro-grid system, energy storage device, and the power of load, using Nonlinear Stochastic Differential Equation to energy
The changed power of amount router is modeled, and the non-linear stochastic for obtaining energy router power control system under multiple states is micro-
Divide equation；
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Markov
Jump summary and induction and simulation system parameter, obtain the nonlinear state equation of the energy router power control system；
Preset non-fragile controller expression formula is substituted into the nonlinear state equation, is obtained according to H infinity control theory more
The corresponding multiple linear matrix inequality of a state；
It solves the multiple linear matrix inequality and obtains anti-interference controller, so that DC bus-bar voltage in the micro-grid system
Stablize；
The Nonlinear Stochastic Differential Equation according to energy router power control system under the multiple state, passes through Ma Er
Section husband, which jumps, summarizes simultaneously simulation system parameter, obtains the nonlinear state equation of the energy router power control system, wraps
It includes:
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Markov
Jump is summarized and simulation system parameter, obtains the new non-thread of the energy router power control system as shown in formula four
Property state equation:
Dx (t)=f (x (t), ν (t), u (t), t, rt)dt+g(x(t),ν(t),u(t),t,rt) dW (t) formula four
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) disturbs for system
Dynamic input；Scalar u (t) is state feedback controller；T is the time；W (t) is Brownian movement；rtIndicate Markov skip link,
Value is in the set of { 1 ..., δ }, and transition probabilities are as shown in formula five:
Wherein πij>=0, i ≠ j, and πii=-∑j≠iπij, P is probability.
2. energy storage is set the method according to claim 1, wherein described according to power generator each in micro-grid system
It is standby, and the power of load, it is simulated, is obtained multiple using changed power of the Nonlinear Stochastic Differential Equation to energy router
The Nonlinear Stochastic Differential Equation of energy router power control system under state, comprising:
According to power generator each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation under some transient state
The changed power of energy router is simulated；
Multiple states are marked based on time scale, and repeat the use Nonlinear Stochastic Differential Equation in each state to this
The step of changed power of energy router under state is simulated, to obtain the energy router function under the multiple state
The Nonlinear Stochastic Differential Equation of rate control system.
3. according to the method described in claim 2, it is characterized in that, described according to power generator each in micro-grid system and load
Power is simulated using changed power of the Nonlinear Stochastic Differential Equation to the energy router under some transient state, comprising:
The changed power under some transient state is simulated using linear ordinary differential shown in formula one:
Wherein, A, B1、B2Invariant parameter when for system；
Randomness is simulated using Brownian movement, the linear ordinary differential is rewritten as the linear random as shown in formula two
The differential equation:
Dx (t)=(Ax (t)+B ν (t)+Cu (t)) dt+ (Dx (t)+E ν (t)+Fu (t)) dW (t) formula two
Wherein, invariant parameter when matrix A, B, C, D, E, F with adaptable dimension are system；
It is compared by model measurement and with actual power situation of change, the linear random differential equation is rewritten as such as public affairs
Nonlinear Stochastic Differential Equation shown in formula three:
Dx (t)=f (x (t), ν (t), u (t)) dt+g (x (t), ν (t), u (t)) dW (t) formula three
Verify the existence and uniqeness of the Nonlinear Stochastic Differential Equation solution.
4. method described in any one of claim 1 to 3, which is characterized in that described by preset non-fragile controller
Expression formula substitutes into the nonlinear state equation, obtains the corresponding multiple linear matrixes of multiple states according to H infinity control theory
Inequality, comprising:
By preset non-fragile controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) the substitution nonlinear state
Equation；
According to the nonlinear state equation, the mathematics phase is asked again after quadraturing using Ito lemma to preset Liapunov item
Prestige value, and H infinity control theory is combined, it is corresponding that multiple states are obtained by functional analysis, inequality principle and matrixing
Multiple linear matrix inequality；
Wherein, scalar u (t) is state feedback controller；Vector x (t) is system mode, i.e. expression energy router internal power
Size variation；K(t,rt) be the matrix with certain dimension and meet certain Markov jump；Parameter uncertainty Δ K
(t,rt) be matrix with same dimension and meet certain Markov jump.
5. a kind of formation device of energy router anti-interference controller, which is characterized in that described device includes:
Model foundation unit, for non-thread according to power generator each in micro-grid system, energy storage device, and the power of load, use
Property stochastic differential equation simulates the changed power of energy router, obtains energy router power control under multiple states
The Nonlinear Stochastic Differential Equation of system；
Parameter simulation unit, for the non-linear stochastic differential according to energy router power control system under the multiple state
Equation summarizes simultaneously simulation system parameter by Markov jump, obtains the non-thread of the energy router power control system
Property state equation；
Antidisturbance control computing unit, for preset non-fragile controller to be substituted into the nonlinear state equation, according to H without
Poor control theory obtains the corresponding multiple linear matrix inequality of multiple states；
Controller acquiring unit obtains anti-interference controller for solving the multiple linear matrix inequality, so that described micro-
DC bus-bar voltage is stablized in net system；
The parameter simulation unit, is specifically used for:
According to the Nonlinear Stochastic Differential Equation of energy router power control system under the multiple state, pass through Markov
Jump is summarized and simulation system parameter, obtains the new non-thread of the energy router power control system as shown in formula four
Property state equation:
Dx (t)=f (x (t), ν (t), u (t), t, rt)dt+g(x(t),ν(t),u(t),t,rt) dW (t) formula four
Wherein, vector x (t) is system mode, i.e. expression energy router internal power size variation；Vector ν (t) disturbs for system
Dynamic input；Scalar u (t) is state feedback controller；T is the time；W (t) is Brownian movement；rtIndicate Markov skip link,
Value is in the set of { 1 ..., δ }, and transition probabilities are as shown in formula five:
Wherein πij>=0, i ≠ j, and πii=-∑j≠iπij, P is probability.
6. device according to claim 5, which is characterized in that the model foundation unit is specifically used for:
According to power generator each in micro-grid system and the power of load, using Nonlinear Stochastic Differential Equation under some transient state
The changed power of energy router is simulated；
Multiple states are marked based on time scale, and repeat the use Nonlinear Stochastic Differential Equation in each state to this
The step of changed power of energy router under state is simulated, to obtain the energy router function under the multiple state
The Nonlinear Stochastic Differential Equation of rate control system.
7. device according to claim 6, which is characterized in that the model foundation unit is further used for:
The changed power under some transient state is simulated using linear ordinary differential shown in formula one:
Wherein, A, B1、B2Invariant parameter when for system；
Randomness is simulated using Brownian movement, the linear ordinary differential is rewritten as the linear random as shown in formula two
The differential equation:
Dx (t)=(Ax (t)+B ν (t)+Cu (t)) dt+ (Dx (t)+E ν (t)+Fu (t)) dW (t) formula two
Wherein, invariant parameter when matrix A, B, C, D, E, F with adaptable dimension are system；
It is compared by model measurement and with actual power situation of change, the linear random differential equation is rewritten as such as public affairs
Nonlinear Stochastic Differential Equation shown in formula three:
Dx (t)=f (x (t), ν (t), u (t)) dt+g (x (t), ν (t), u (t)) dW (t) formula three
Verify the existence and uniqeness of the Nonlinear Stochastic Differential Equation solution.
8. the device according to any one of claim 5~7, which is characterized in that the interference controls computing unit, specifically
For:
By preset non-fragile controller expression formula u (t)=(K (t, rt)+ΔK(t,rt)) x (t) the substitution nonlinear state
Equation；
According to the nonlinear state equation, the mathematics phase is asked again after quadraturing using Ito lemma to preset Liapunov item
Prestige value, and H infinity control theory is combined, it is corresponding that multiple states are obtained by functional analysis, inequality principle and matrixing
Multiple linear matrix inequality；
Wherein, scalar u (t) is state feedback controller；Vector x (t) is system mode, i.e. expression energy router internal power
Size variation；K(t,rt) be the matrix with certain dimension and meet certain Markov jump；Parameter uncertainty Δ K
(t,rt) be matrix with same dimension and meet certain Markov jump.
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| LMI方法非脆弱鲁棒H无穷控制器设计;姚成法等;《电光与控制》;20071231;第14卷(第6期);全文 |
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